Abstract
This study presents a cutting-edge imaging technique for special unmanned vehicles (UAVs) designed to enhance tunnel inspection capabilities. This technique integrates ghost imaging inspired by the human visual system with lateral inhibition and variable resolution to improve environmental perception in challenging conditions, such as poor lighting and dust. By emulating the high-resolution foveal vision of the human eye, this method significantly enhances the efficiency and quality of image reconstruction for fine targets within the region of interest (ROI). This method utilizes non-uniform speckle patterns coupled with lateral inhibition to augment optical nonlinearity, leading to superior image quality and contrast. Lateral inhibition effectively suppresses background noise, thereby improving the imaging efficiency and substantially increasing the signal-to-noise ratio (SNR) in noisy environments. Extensive indoor experiments and field tests in actual tunnel settings validated the performance of this method. Variable-resolution sampling reduced the number of samples required by 50%, enhancing the reconstruction efficiency without compromising image quality. Field tests demonstrated the system's ability to successfully image fine targets, such as cables, under dim and dusty conditions, achieving SNRs from 13.5 dB at 10% sampling to 27.7 dB at full sampling. The results underscore the potential of this technique for enhancing environmental perception in special unmanned vehicles, especially in GPS-denied environments with poor lighting and dust.